Articulation of Laparoscopic Instrument

Abstract

A surgical articulation apparatus and method for articulation of laparoscopic instruments is disclosed. The surgical articulation apparatus includes a housing, a tubular member extending distally from the housing, a spherical member attached to a proximal end of the housing, a ring member disposed about the spherical member and a cable extending from the tubular member through the housing to the ring member. The housing, tubular member and spherical member each include lumens therethrough for the reception of a flexible surgical instrument. The ring member is rotatable about the spherical member. The cable is attached to the tubular member and disposed in mechanical communication with the ring member such that the tubular member is manipulated by cable upon rotation of the ring member about the spherical member.

1 . A surgical articulation apparatus for articulation of laparoscopic instruments comprising:
 a housing, the housing defining a housing lumen therethrough for the reception of a surgical instrument;   a tubular member extending distally from the housing, the tubular member defining a flexible lumen therethrough for the reception of the flexible surgical instrument;   a spherical member attached to a proximal end of the housing, the spherical member defining a sphere lumen therethrough for the reception of the flexible surgical instrument, the lumen defining a longitudinal axis;   a ring member disposed about the spherical member and rotatable with respect to the spherical member; and   a cable attached to the tubular member and extending through the housing to the ring member, the cable being disposed in mechanical communication with the ring member such that the tubular member is articulated by the cable upon rotation of the ring member about the spherical member.   
     
     
         2 . The surgical articulation apparatus of  claim 1 , wherein the ring member includes a plurality of openings therethrough, the cable being inserted through at least one of the plurality of openings. 
     
     
         3 . The surgical articulation apparatus of  claim 2 , wherein the cable defines two ends, each end being attached to a distal section of the tubular member. 
     
     
         4 . The surgical articulation apparatus of  claim 1 , wherein the ring member further includes a plurality of flanges disposed on its surface, the flanges actuatable to rotate the ring member about the spherical member. 
     
     
         5 . The surgical articulation apparatus of  claim 4 , further including an outer shell disposed around the housing, the ring member and the spherical member. 
     
     
         6 . The surgical articulation apparatus of  claim 5 , wherein the outer shell includes a handle portion, the handle portion defining a plurality of slots thereon for the reception of the plurality of flanges therethrough. 
     
     
         7 . The surgical articulation apparatus of  claim 6 , wherein the plurality of slots are dimensioned to allow at least one the flanges to rotate about a first axis perpendicular to the longitudinal axis and another of the flanges to rotate about a second axis perpendicular to both the first axis and the longitudinal axis. 
     
     
         8 . The surgical articulation apparatus of  claim 1 , wherein the tubular member includes a series of flexible elements. 
     
     
         9 . A method of using a surgical articulation apparatus comprising the steps of:
 providing a surgical articulation apparatus for articulation of laparoscopic instruments comprising:
 a housing, the housing defining a housing lumen therethrough for the reception of a flexible surgical instrument; 
 a tubular member extending distally from the housing, the tubular member defining a flexible lumen therethrough for the reception of the flexible surgical instrument; 
 a spherical member attached to a proximal end of the housing, the spherical member defining a sphere lumen therethrough for the reception of the flexible surgical instrument, the sphere lumen defining a longitudinal axis; 
 a ring member disposed about the spherical member and rotatable about the spherical member; and 
 a cable attached to the tubular member and extending through the housing to the ring member, the cable being disposed in mechanical communication with the ring member such that the tubular member is articulated by the cable upon rotation of the ring member about the spherical member; 
   inserting the tubular member into a surgical site;   inserting the flexible surgical instrument through the sphere lumen, housing lumen and flexible lumen and into the surgical site;   rotating the ring member about a first axis to manipulate the tubular member in a first direction; and   rotating the ring member about a second axis to manipulate the tubular member in a second direction.   
     
     
         10 . The method of  claim 9 , wherein the ring member further includes a plurality of flanges disposed on its surface. 
     
     
         11 . The method of  claim 10 , wherein the step of rotating the ring member about the first axis includes manipulating a first of the plurality of flanges about the first axis, the first axis being perpendicular to the longitudinal axis of the sphere lumen. 
     
     
         12 . The method of  claim 10 , wherein the step of rotating the ring member about the second axis includes manipulating a second of the plurality of the flanges about the second axis, the second axis being perpendicular to the longitudinal axis of the sphere lumen and perpendicular to the first axis. 
     
     
         13 . The method of  claim 10 , wherein the plurality of flanges define a generally cross shaped pattern with flanges on three of the four sides. 
     
     
         14 . The method of  claim 9 , wherein rotation of the ring member translates a first end of the cable in one of a distal or proximal direction and a second end of the cable in the other of the distal or proximal direction to articulate the tubular member. 
     
     
         15 . The method of  claim 14 , wherein the first and second ends of the cable are attached to a distal section of the tubular member, the cable being looped through at least one hole in the ring member. 
     
     
         16 . The method of  claim 15 , wherein the cable is looped through two holes in each of a first and second sides of the ring member before returning to the distal section of the tubular member. 
     
     
         17 . The method of  claim 16 , further including a second cable attached to the distal section of the tubular member and looping through two holes in each of a third and fourth sides of the ring member before returning to the distal section of the tubular member. 
     
     
         18 . The method of  claim 9 , wherein the tubular member further includes flexible links. 
     
     
         19 . The method of  claim 18 , wherein upon movement of the cable in a distal or proximal direction, the flexible links allow the tubular member to bend. 
     
     
         20 . A surgical articulation apparatus for articulation of laparoscopic instruments comprising:
 a housing, the housing defining a housing lumen therethrough for the reception of a flexible surgical instrument;   an tubular member extending distally from the housing, the tubular member defining a flexible lumen therethrough for the reception of the flexible surgical instrument and a series of flexible linked sections adapted to allow the tubular member to flex;   a gimbal attached to a proximal end of the housing, the gimbal including:
 a spherical member defining a lumen therethrough for the reception of the flexible surgical instrument; and 
 a rotating member disposed around the spherical member and rotatable with respect to the spherical member, the rotating member defining a plurality of holes therethrough; and 
   at least one wire attached to a distal end of the tubular member and extending through the housing to the gimbal, the wire looping through at least two of the plurality of holes and further extending from the gimbal back through the housing to further attach to the distal end of the tubular member, the at least one wire adapted to flex the tubular member upon rotation of the rotating member.